turtlebot3_formation

Leader-follower formation control using ROS+Gazebo.

Introduction

This repository use 4 robots (turtlebot3) formation control. The main idea is: one turtlebot is leader, the remaining three turtlebots are follower. The followers use PID control algorithm to maintain the pose and distance with leader robot. More detail is on abc_swarm doc.

Getting Started

1. Create a ROS workspace

$ mkdir <workspace_name>/src
$ cd <workspace_name>/src

2. install dependencies and repository

$ git clone <dependency repository>.git
$ git clone git@github.com:khinggan/turtlebot3_formation.git

dependencies: turtlebot3_msg, turtlebot3, turtlebot3_simulation, dynamic_reconfigure.

3. build

$ cd ../
$ catkin_make
$ source devel/setup.bash

4. run

$ roslaunch turtlebot3_formation leader_follower.launch

5. test (another terminal)

$ rostopic pub -r 10 /tb3_1/cmd_vel geometry_msgs/Twist "{linear:  {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0, z: 0.1}}"

BUG #3

Modify the turtlebot3 noetic branch, turtlebot3_burger.gazebo.xacro file,

  ...
  <xacro:arg name="laser_visual" default="false"/>
  <xacro:arg name="imu_visual"   default="false"/>

  <!--Add this-->
  <xacro:arg name="tf_prefix" default=""/>
  ...

and use tf_prefix in gazebo plugin

  <gazebo>
    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>$(arg tf_prefix)/odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <publishOdomTF>true</publishOdomTF>
      <robotBaseFrame>$(arg tf_prefix)/base_footprint</robotBaseFrame>
      <publishWheelTF>false</publishWheelTF>
      <publishTf>true</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <legacyMode>false</legacyMode>
      <updateRate>30</updateRate>
      <leftJoint>wheel_left_joint</leftJoint>
      <rightJoint>wheel_right_joint</rightJoint>
      <wheelSeparation>0.160</wheelSeparation>
      <wheelDiameter>0.066</wheelDiameter>
      <wheelAcceleration>1</wheelAcceleration>
      <wheelTorque>10</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>